3 papers
stat.ML2025
Physics constrained learning of stochastic characteristics
Pardha Sai Krishna Ala, Ameya Salvi, Venkat Krovi +1
Accurate state estimation requires careful consideration of uncertainty surrounding the process and measurement models; these characteristics are usually not well-known and need an…
cs.RO2025
Characterizing gaussian mixture of motion modes for skid-steer vehicle state estimation
Ameya Salvi, Mark Brudnak, Jonathon M. Smereka +2
Skid-steered wheel mobile robots (SSWMRs) are characterized by the unique domination of the tire-terrain skidding for the robot to move. The lack of reliable friction models cascad…
cs.RO2024
Online identification of skidding modes with interactive multiple model estimation
Ameya Salvi, Pardha Sai Krishna Ala, Jonathon M. Smereka +4
Skid-steered wheel mobile robots (SSWMRs) operate in a variety of outdoor environments exhibiting motion behaviors dominated by the effects of complex wheel-ground interactions. Ch…